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This paper presents adaptive tracking control with a partial regressor for multi-joint robots. The proposed controller can abbreviate the elaborate computations of a regressor matrix, which needs to be wholly calculated in conventional adaptive control. Therefore, this controller can be easily implemented in robotic systems. Even though the proposed controller does not utilize robustification techniques...
This paper proposes an iterative motion learning method with stiffness adaptation for energy saving in multi-joint robots. The method iteratively updates both a desired motion and joint stiffness using time-series data of the actuator torque obtained in a control trial with the desired periodic motion. The iterative method is designed to realize the convergence of the desired motion to an energy-efficient...
This paper presents an electromyographic-based human-machine interface for the agonist-antagonist system with two pairs of pneumatic artificial muscles (PAMs) that replicates the human elbow-joint system. We introduce the novel concepts of agonist-antagonist muscle-pair ratio (A-A ratio) and agonist-antagonist muscle-pair activity (A-A activity) to link the human muscle system to the PAM system, and...
This paper presents a novel method for controlling a single-joint robot arm driven by two pneumatic artificial muscles (PAMs). We introduce the concepts of the agonist-antagonist muscle-pairs ratio (A-A ratio) and the agonist-antagonist muscle-pairs activity (A-A activity), and demonstrate that our concepts enable separate linear control of the equilibrium joint angle and joint stiffness. We also...
The need of solving the problem of multi-degrees-of-freedom in motor control is increasing as human-like robots become more popular these days. Muscle synergies hypothesis is a prominent suggestion for this problem. In this paper, we investigated the muscle synergies extracted from human subjects in a producing-force task to explore the mechanism of the human's skillful hand-movement at producing...
Recently, research into robots that coexist with people in many areas such as the service and medical industries is active. Such robots need to be both safe and flexible. To satisfy this demand, a pneumatic actuator is appropriate because it is lightweight and has natural compliance. Our research focuses on a joint angle control method for a five-fingered robot hand using low-pressure driven pneumatic...
Recently, research into robots that coexist with people in areas such as the service and medical industries is active. Such robots need to be both safe and flexible. To satisfy this demand, a pneumatic actuator is appropriate because it has natural compliance and is lightweight. Our research focuses on a joint angle control method for a five-fingered robot hand using low-pressure driven pneumatic...
The intent of this rather expository paper is to show the importance of Lyapunov theory in various aspects of robot control and design of robotic systems. Specifically it is shown that a rather classical linear PD or PID control method adopted in most modern industrial robot manipulators practically works well regardless of high nonlinearity and existence of strong couplings between joints in robot...
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